Trapezoidal Profile Time
Compute the total time of a motion with a trapezoidal velocity profile, t = d/Vmax + Vmax/a, adding the cruise-velocity time to the acceleration and deceleration phases. It is the most common motion profile in motors and robots: accelerate to maximum speed, hold constant and decelerate. Enter the distance, the maximum velocity and the acceleration (assuming equal acceleration and deceleration).
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Trapezoidal profile time
The trapezoidal velocity profile is the most common way to command a motion in motors and robots: it accelerates from rest at a constant rate until it reaches the maximum velocity, cruises at that velocity, and decelerates symmetrically until it stops. The velocity × time graph forms a trapezoid. The total time is t = d/Vmax + Vmax/a: the first term would be the time if the velocity were at its maximum all the way, and the second one adds the delay of the acceleration and deceleration ramps. (The formula holds when the travel distance suffices to reach Vmax; over short moves the profile turns into a triangle and never reaches the maximum velocity.) Enter the distance, the maximum velocity and the acceleration.
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